CN108646733A - A kind of mobile robot and its antidote of automatic straightening - Google Patents
A kind of mobile robot and its antidote of automatic straightening Download PDFInfo
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- CN108646733A CN108646733A CN201810392074.2A CN201810392074A CN108646733A CN 108646733 A CN108646733 A CN 108646733A CN 201810392074 A CN201810392074 A CN 201810392074A CN 108646733 A CN108646733 A CN 108646733A
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- 239000000729 antidote Substances 0.000 title claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 49
- 230000004888 barrier function Effects 0.000 claims abstract description 48
- 229940075522 antidotes Drugs 0.000 claims abstract 2
- 238000005070 sampling Methods 0.000 claims description 7
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of mobile robot of automatic straightening and its antidotes, including mobile robot, the mobile robot is equipped with MCU master control systems, direction sensor, mobile motor drive system, the direction sensor, mobile motor drive system are connect with MCU master control systems；The mobile robot front is equipped with positive infrared distance measurement module, and mobile robot at least side is equipped at least one set of side infrared distance measurement module；The positive infrared distance measurement module, side infrared distance measurement module are connect with MCU master control systems.During mobile robot moves indoors, when transporting to barrier, main body turning reads the infrared value in side, the vertical angle of machine and barrier is calculated by algorithm, to correct the calculated course angle of direction sensor；Ensure that robot prolonged exercise, course angle do not occur big offset.
Description
Technical field
The present invention relates to mobile robot angle correction technical field, the mobile robot of specially a kind of automatic straightening and
Its antidote.
Background technology
The direction sensors such as acceleration transducer or gyroscope are a kind of devices being used for sensing and maintaining direction, are passed through
Angular speed is measured to achieve the purpose that calculate attitude angle.The marine navigation being widely used to aerospace, automobile biology, environment
Monitoring, smart mobile phone field.In Intelligent robot for sweeping floor industry, usable direction sensor is based on inertial navigation and realizes that interior is led
Boat, the functions such as I-shaped cleaning, are the necessary components of New Generation of Intelligent sweeping robot.Due to direction sensor error itself and
The accumulation of integral error, attitude angle is calculated there is deviation with the accumulation of time, sweeping robot guidance path is caused to malfunction,
Situations such as running orbit deviates；The error of some 20 minutes initial 10 ° of energy or more, the serious direction sensor that restricts is in robot
Application.
Invention content
In view of the deficiencies of the prior art, it the present invention provides a kind of method that Indoor Robot corrects gyroscope, solves
The case where direction sensor long-time integration angle angle of arrival deviation of the mobile robot of indoor sport at present, restricts movement
The problem of robot uses.
To achieve the above object, the present invention provides the following technical solutions：A kind of mobile robot of automatic straightening, including move
Mobile robot, the mobile robot are equipped with MCU master control systems：Read direction sensing data, integral and calculating mobile robot
Course angle；
Direction sensor：Output speed or angle；
Mobile motor drive system：Drive mobile robot walking；
The direction sensor, mobile motor drive system are connect with MCU master control systems；The mobile robot front peace
Equipped with positive infrared distance measurement module, mobile robot at least side is equipped at least one set of side infrared distance measurement module；It is described just infrared
Range finder module, side infrared distance measurement module are connect with MCU master control systems.
Preferably, the direction sensor is gyroscope.
Preferably, the gyroscope uses micro-mechanical gyroscope.
A kind of antidote of the mobile robot of automatic straightening, includes the following steps：
Step 1：MCU master control systems control mobile motor drive system driving mobile robot and walk according to setting path,
After positive infrared distance measurement module detects barrier A in mobile robot walking process, motor driven systems drive mobile robot
Rotation so that side infrared distance measurement module is inswept barrier A, in rotary course, side infrared distance measurement module is every N time samplings one
Secondary data read at a distance from barrier A, obtain the data S1 of one group of distance, when data reach maximum value, side infrared distance measurement
Module understands shape a1 at an angle with barrier A, while direction sensor also generates an angle-data θ 1；
Step 2：Subsequent mobile robot walks on according to setting path；
Step 3：When the positive infrared distance measurement module of mobile robot detects barrier A again, motor driven systems driving
Mobile robot rotates so that side infrared distance measurement module is inswept barrier A, in rotary course, side infrared distance measurement module is every N
Data of time sampling read at a distance from barrier A, obtain the data S2 of one group of distance, when data reach maximum value,
Side infrared distance measurement module understands shape a2 at an angle with barrier A, while direction sensor also generates an angle-data θ 2；It presses
Current angular is corrected according to the difference of θ 2 and θ 1.
Further, in step 2, when the positive infrared distance measurement module of mobile robot detects barrier again, motor
Drive system drives mobile robot rotation so that side infrared distance measurement module is inswept barrier, in rotary course, and the infrared survey in side
Away from module every data of N time samplings, reads at a distance from barrier, obtain the data S of one group of distance, reach in data
When maximum value, side infrared distance measurement module understands shape a at an angle with barrier A, while direction sensor is also given birth at an angle
Data θ；When data S curve and data S1 curve approximations, disturbance in judgement object is identical as barrier A, then according to the difference of θ and θ 1
Correct current angular；If not approximate, step 2 is continued to execute.
Preferably, side is infrared to sample a data every 1ms~30ms.
Further, when direction sensor forms angle-data and 90 ° or 180 ° or 0 ° or 270 ° relatively,
It is considered parallel or vertical with the barrier, then it is 90 ° or 180 ° or 0 ° or 270 ° that can directly correct fuselage angle.
Beneficial effects of the present invention：During mobile robot moves indoors, when transporting to barrier, main body turning,
The infrared value in side is read, the vertical angle of machine and barrier is calculated by algorithm, is calculated to correct direction sensor
The course angle gone out；Ensure that robot prolonged exercise, course angle do not occur big offset.
Description of the drawings
Fig. 1 is the flow chart of the present invention.
Fig. 2 is the module diagram of the mobile robot of the present invention.
Fig. 3 is the state diagram of the present invention.
Fig. 4 is the distance change figure that infrared distance measurement mould in side of the present invention is measured with barrier.
Wherein：1：Mobile robot, 2：MCU master control systems, 3：Mobile motor drive system, 4：Gyroscope, 5：It is just infrared
Range finder module, 6：Side infrared distance measurement module.
Specific implementation mode
As shown in Figure 1, 2, 3, a kind of mobile robot of automatic straightening, including mobile robot, the mobile robot
Equipped with MCU master control systems：Read direction sensing data, integral and calculating mobile robot course angle；
Direction sensor：Output speed or angle；
Mobile motor drive system：Drive mobile robot walking；
The direction sensor, mobile motor drive system are connect with MCU master control systems；The mobile robot front peace
Equipped with positive infrared distance measurement module, mobile robot at least side is equipped at least one set of side infrared distance measurement module；It is described just infrared
Range finder module, side infrared distance measurement module are connect with MCU master control systems.
Preferably, the direction sensor is micro-mechanical gyroscope.
A kind of antidote of the mobile robot of automatic straightening, includes the following steps：
Step 1：MCU master control systems control mobile motor drive system driving mobile robot and walk according to setting path,
After positive infrared distance measurement module detects barrier A in mobile robot walking process, motor driven systems drive mobile robot
Rotation so that side infrared distance measurement module is inswept barrier A, in rotary course, side infrared distance measurement module is when 1ms~30ms
Between sample a data, read at a distance from barrier A, obtain the data S1 of one group of distance, when data reach maximum value, side
Infrared distance measurement module understands shape a1 at an angle with barrier A, while direction sensor also generates an angle-data θ 1；
Step 2：Subsequent mobile robot walks on according to setting path；
Step 3：When the positive infrared distance measurement module of mobile robot detects barrier A again, motor driven systems driving
Mobile robot rotates so that side infrared distance measurement module is inswept barrier A, in rotary course, side infrared distance measurement module every
Data of 1ms~30ms time samplings read at a distance from barrier A, obtain the data S2 of one group of distance, reach in data
When maximum value, side infrared distance measurement module understands shape a2 at an angle with barrier A, while direction sensor is also given birth at an angle
Data θ 2；Current angular is corrected according to the difference of θ 2 and θ 1.
Further, in step 2, when the positive infrared distance measurement module of mobile robot detects barrier again, motor
Drive system drives mobile robot rotation so that side infrared distance measurement module is inswept barrier, in rotary course, and the infrared survey in side
Away from module every data of 1ms~30ms time samplings, reads at a distance from barrier, obtain the data S of one group of distance,
When data reach maximum value, side infrared distance measurement module understands shape a at an angle with barrier A, while direction sensor also generates
One angle-data θ；When data S curve and when data S1 curve approximations, disturbance in judgement object is identical with barrier A, then according to θ and
The difference of θ 1 corrects current angular；If not approximate, step 2 is continued to execute.
When direction sensor forms angle-data and 90 ° or 180 ° or 0 ° or 270 ° relatively, it is believed that be with
The barrier is parallel or vertical, then can directly to correct fuselage angle be 90 ° or 180 ° or 0 ° or 270 °.
The present invention automatically corrects course angle during mobile robot is walked, when encountering barrier, with
Shi Jinhang analysis corrections, effectively avoid path error, it is ensured that robot prolonged exercise, course angle do not occur big offset.
This rotation support is rotated clockwise or is rotated counterclockwise, and counterclockwise when rotation, MCU controls right wheel and moves ahead, left
Wheel is fallen back.Revolver, right wheel do speed difference with PID, it is ensured that machine original place rotates.When rotating clockwise, revolver moves ahead, and right wheel is fallen
It moves back, revolver, right wheel does speed difference with PID, it is ensured that machine original place rotates.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (7)
1. a kind of mobile robot of automatic straightening, including mobile robot, the mobile robot is equipped with MCU master control systems：
Read direction sensing data, integral and calculating mobile robot course angle；
Direction sensor：Output speed or angle；
Mobile motor drive system：Drive mobile robot walking；
The direction sensor, mobile motor drive system are connect with MCU master control systems；It is characterized in that, the mobile machine
People front is equipped with positive infrared distance measurement module, and mobile robot at least side is equipped at least one set of side infrared distance measurement module；Institute
State positive infrared distance measurement module, side infrared distance measurement module is connect with MCU master control systems.
2. a kind of mobile robot of automatic straightening according to claim 1, which is characterized in that the direction sensor is top
Spiral shell instrument.
3. a kind of mobile robot of automatic straightening according to claim 2, which is characterized in that the gyroscope uses microcomputer
Tool gyroscope.
4. according to a kind of any one of claim 1-3 antidotes of the mobile robot of automatic straightening, which is characterized in that
Include the following steps：
Step 1：MCU master control systems control mobile motor drive system driving mobile robot according to the walking of setting path, movement
After positive infrared distance measurement module detects barrier A during robot ambulation, motor driven systems drive mobile robot rotation,
Make the inswept barrier A of side infrared distance measurement module, in rotary course, side infrared distance measurement module is every number of N time samplings
According to reading obtains the data S1 of one group of distance, when data reach maximum value, side infrared distance measurement module at a distance from barrier A
Understand shape a1 at an angle with barrier A, while direction sensor also generates an angle-data θ 1；
Step 2：Subsequent mobile robot walks on according to setting path；
Step 3：When the positive infrared distance measurement module of mobile robot detects barrier A again, motor driven systems driving movement
Robot rotates so that side infrared distance measurement module is inswept barrier A, in rotary course, side infrared distance measurement module is every the N times
A data are sampled, reads at a distance from barrier A, obtains the data S2 of one group of distance, when data reach maximum value, side is red
Outer range finder module understands shape a2 at an angle with barrier A, while direction sensor also generates an angle-data θ 2；According to θ 2
Current angular is corrected with the difference of θ 1.
5. a kind of antidote of the mobile robot of automatic straightening according to claim 4, which is characterized in that in step 2
In, when the positive infrared distance measurement module of mobile robot detects barrier again, motor driven systems drive mobile robot rotation
Turn so that side infrared distance measurement module is inswept barrier, in rotary course, side infrared distance measurement module is primary every N time samplings
Data read at a distance from barrier, obtain the data S of one group of distance, when data reach maximum value, side infrared distance measurement module
Understand shape a at an angle with barrier A, while direction sensor also generates an angle-data θ；When data S curve and data
When S1 curve approximations, disturbance in judgement object is identical as barrier A, then corrects current angular according to the difference of θ and θ 1；If not close
Seemingly, then step 2 is continued to execute.
6. a kind of antidote of the mobile robot of automatic straightening according to claim 4, which is characterized in that side is infrared
A data are sampled every 1ms~30ms.
7. a kind of antidote of the mobile robot of automatic straightening according to claim 4, which is characterized in that when direction passes
When sensor forms angle-data and 90 ° or 180 ° or 0 ° or 270 ° relatively, it is believed that be parallel or vertical with the barrier
Straight, then it is 90 ° or 180 ° or 0 ° or 270 ° that can directly correct fuselage angle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112263188A (en) * | 2020-10-22 | 2021-01-26 | 湖南格兰博智能科技有限责任公司 | Correction method and device for moving direction of mobile robot |
| CN113854892A (en) * | 2021-10-21 | 2021-12-31 | 唐山学院 | Cleaning device capable of automatically planning path |
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| CN108646733B (en) | 2021-08-10 |
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